hpp::core Namespace Reference

Namespaces

 continuousCollisionChecking
 
 nearestNeighbor
 
 pathOptimization
 
 pathProjector
 

Classes

class  BasicConfigurationShooter
 Uniformly sample with bounds of degrees of freedom. More...
 
struct  CollisionPathValidationReport
 Abstraction of path validation report. More...
 
class  CollisionValidation
 Validate a configuration with respect to collision. More...
 
struct  CollisionValidationReport
 Validate a configuration with respect to collision. More...
 
class  ComparisonType
 Abstract class defining the comparison for a function value and doing a saturation, necessary for inequality constraint. More...
 
class  ComparisonTypes
 Implementation of various equation types. More...
 
class  ConfigProjector
 Implicit non-linear constraint. More...
 
class  ConfigurationShooter
 Abstraction of configuration shooter. More...
 
class  ConfigValidation
 Abstraction of configuration validation. More...
 
class  ConfigValidations
 Validate a configuration with respect to collision. More...
 
class  ConnectedComponent
 Connected component. More...
 
class  Constraint
 Constraint applicable to a robot configuration. More...
 
class  ConstraintSet
 Set of constraints applicable to a robot configuration. More...
 
class  DiffusingPlanner
 Generic implementation of RRT algorithm. More...
 
class  DiscretizedCollisionChecking
 Validation of path by collision checking at discretized parameter values. More...
 
class  Distance
 Abstract class for distance between configurations. More...
 
class  DistanceBetweenObjects
 Computation of distances between pairs of objects. More...
 
class  DoubleInequality
 Implementation of double inequality. More...
 
class  Edge
 Edge of a roadmap. More...
 
class  Equality
 Implementation of equality. More...
 
class  EqualToZero
 Implementation of equality to zero. More...
 
class  Equation
 This class represents an equation with the following format $ f(q) = \textbf{or} \le rhs $. More...
 
class  Inequality
 Implementation of inequality. More...
 
class  JointBoundException
 Exception thrown when a configuration is not within the bounds. More...
 
class  JointBoundValidation
 Validate a configuration with respect to joint bounds. More...
 
class  LockedJoint
 Implementation of Equation specific to locked joint. More...
 
class  Node
 Node of a roadmap. More...
 
class  NumericalConstraint
 With the same notation as in Equation, this class represents equation: More...
 
class  Path
 Abstraction of paths: mapping from time to configuration space. More...
 
class  PathOptimizer
 Abstraction of path optimizer. More...
 
class  PathPlanner
 Path planner. More...
 
class  PathProjector
 This class projects a path using constraints. More...
 
class  PathValidation
 Abstraction of path validation. More...
 
class  PathVector
 Concatenation of several paths. More...
 
class  PlanAndOptimize
 Path planner and optimizer. More...
 
class  Problem
 Defines a path planning problem for one robot. More...
 
class  ProblemSolver
 Set and solve a path planning problem. More...
 
class  RandomShortcut
 Random shortcut. More...
 
class  Roadmap
 Roadmap built by random path planning methods Nodes are configurations, paths are collision-free paths. More...
 
class  SteeringMethod
 Steering method. More...
 
class  SteeringMethodStraight
 Steering method that creates StraightPath instances. More...
 
class  StraightPath
 Linear interpolation between two configurations. More...
 
class  ValidationReport
 Abstraction of validation report for paths and configurations. More...
 
class  VisibilityPrmPlanner
 Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards. More...
 
class  WeighedDistance
 Weighed distance between configurations. More...
 

Typedefs

typedef Inequality< ComparisonType::SuperiorSuperiorIneq
 
typedef Inequality< ComparisonType::InferiorInferiorIneq
 
typedef boost::shared_ptr< SuperiorIneqSuperiorPtr_t
 
typedef boost::shared_ptr< InferiorIneqInferiorPtr_t
 
typedef boost::shared_ptr< ComparisonTypeComparisonTypePtr_t
 
typedef boost::shared_ptr< EqualityEqualityPtr_t
 
typedef boost::shared_ptr< EqualToZeroEqualToZeroPtr_t
 
typedef boost::shared_ptr< ComparisonTypesComparisonTypesPtr_t
 
typedef boost::shared_ptr< DoubleInequalityDoubleInequalityPtr_t
 
typedef boost::shared_ptr< BasicConfigurationShooterBasicConfigurationShooterPtr_t
 
typedef hpp::model::Body Body
 
typedef hpp::model::BodyPtr_t BodyPtr_t
 
typedef boost::shared_ptr< CollisionValidationCollisionValidationPtr_t
 
typedef model::CollisionObjectPtr_t CollisionObjectPtr_t
 
typedef model::Configuration_t Configuration_t
 
typedef model::ConfigurationIn_t ConfigurationIn_t
 
typedef model::ConfigurationOut_t ConfigurationOut_t
 
typedef model::ConfigurationPtr_t ConfigurationPtr_t
 
typedef std::vector< ConfigurationPtr_tConfigurations_t
 
typedef Configurations_t::iterator ConfigIterator_t
 
typedef Configurations_t::const_iterator ConfigConstIterator_t
 
typedef boost::shared_ptr< ConfigurationShooterConfigurationShooterPtr_t
 
typedef boost::shared_ptr< ConfigProjectorConfigProjectorPtr_t
 
typedef boost::shared_ptr< ConfigValidationConfigValidationPtr_t
 
typedef boost::shared_ptr< ConfigValidationsConfigValidationsPtr_t
 
typedef boost::shared_ptr< ConnectedComponentConnectedComponentPtr_t
 
typedef std::set< ConnectedComponentPtr_tConnectedComponents_t
 
typedef boost::shared_ptr< ConstraintConstraintPtr_t
 
typedef boost::shared_ptr< ConstraintSetConstraintSetPtr_t
 
typedef model::Device Device_t
 
typedef model::DevicePtr_t DevicePtr_t
 
typedef model::DeviceWkPtr_t DeviceWkPtr_t
 
typedef model::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
 
typedef std::deque< DevicePtr_tDevices_t
 
typedef constraints::DifferentiableFunction DifferentiableFunction
 
typedef constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
 
typedef boost::shared_ptr< DiffusingPlannerDiffusingPlannerPtr_t
 
typedef boost::shared_ptr< DiscretizedCollisionCheckingDiscretizedCollisionCheckingPtr_t
 
typedef boost::shared_ptr< DistanceDistancePtr_t
 
typedef boost::shared_ptr< DistanceBetweenObjectsDistanceBetweenObjectsPtr_t
 
typedef model::DistanceResult DistanceResult
 
typedef model::DistanceResults_t DistanceResults_t
 
typedef EdgeEdgePtr_t
 
typedef std::list< Edge * > Edges_t
 
typedef boost::shared_ptr< ExtractedPath > ExtractedPathPtr_t
 
typedef model::JointJacobian_t JointJacobian_t
 
typedef model::Joint Joint
 
typedef model::JointConstPtr_t JointConstPtr_t
 
typedef model::JointPtr_t JointPtr_t
 
typedef boost::shared_ptr< JointBoundValidationJointBoundValidationPtr_t
 
typedef model::HalfJointJacobian_t HalfJointJacobian_t
 
typedef model::JointVector_t JointVector_t
 
typedef KDTree * KDTreePtr_t
 
typedef boost::shared_ptr< LockedJointLockedJointPtr_t
 
typedef boost::shared_ptr< NumericalConstraintNumericalConstraintPtr_t
 
typedef model::matrix_t matrix_t
 
typedef constraints::matrixIn_t matrixIn_t
 
typedef constraints::matrixOut_t matrixOut_t
 
typedef model::size_type size_type
 
typedef model::value_type value_type
 
typedef std::pair< value_type, value_typeinterval_t
 
typedef std::pair< size_type, size_typeSizeInterval_t
 
typedef std::vector< SizeInterval_tSizeIntervals_t
 
typedef std::list< Node * > Nodes_t
 
typedef NodeNodePtr_t
 
typedef model::ObjectVector_t ObjectVector_t
 
typedef boost::shared_ptr< PathPathPtr_t
 
typedef boost::shared_ptr< const PathPathConstPtr_t
 
typedef boost::shared_ptr< PathOptimizerPathOptimizerPtr_t
 
typedef boost::shared_ptr< PathPlannerPathPlannerPtr_t
 
typedef boost::shared_ptr< PathValidationPathValidationPtr_t
 
typedef boost::shared_ptr< PathVectorPathVectorPtr_t
 
typedef boost::shared_ptr< PlanAndOptimizePlanAndOptimizePtr_t
 
typedef ProblemProblemPtr_t
 
typedef ProblemSolverProblemSolverPtr_t
 
typedef boost::shared_ptr< RandomShortcutRandomShortcutPtr_t
 
typedef boost::shared_ptr< RoadmapRoadmapPtr_t
 
typedef boost::shared_ptr< StraightPathStraightPathPtr_t
 
typedef boost::shared_ptr< SteeringMethodSteeringMethodPtr_t
 
typedef boost::shared_ptr< SteeringMethodStraightSteeringMethodStraightPtr_t
 
typedef std::vector< PathPtr_tPaths_t
 
typedef std::vector< PathVectorPtr_tPathVectors_t
 
typedef model::vector_t vector_t
 
typedef model::vectorIn_t vectorIn_t
 
typedef model::vectorOut_t vectorOut_t
 
typedef boost::shared_ptr< VisibilityPrmPlannerVisibilityPrmPlannerPtr_t
 
typedef boost::shared_ptr< WeighedDistanceWeighedDistancePtr_t
 
typedef std::map< std::string, DifferentiableFunctionPtr_tDifferentiableFunctionMap_t
 
typedef std::map< std::string, ComparisonTypePtr_tComparisonTypeMap_t
 
typedef std::map< std::string, SizeIntervals_tSizeIntervalsMap_t
 
typedef std::map< std::string, CenterOfMassComputationPtr_tCenterOfMassComputationMap_t
 
typedef std::pair< CollisionObjectPtr_t, CollisionObjectPtr_tCollisionPair_t
 
typedef std::list< CollisionPair_tCollisionPairs_t
 
typedef NearestNeighbor * NearestNeighborPtr_t
 
typedef boost::shared_ptr< PathProjectorPathProjectorPtr_t
 

Functions

std::ostream & operator<< (std::ostream &os, const Constraint &constraint)
 
 HPP_PREDEF_CLASS (BasicConfigurationShooter)
 
 HPP_PREDEF_CLASS (CollisionValidation)
 
 HPP_PREDEF_CLASS (ConfigurationShooter)
 
 HPP_PREDEF_CLASS (ConfigProjector)
 
 HPP_PREDEF_CLASS (ConfigValidation)
 
 HPP_PREDEF_CLASS (ConfigValidations)
 
 HPP_PREDEF_CLASS (ConnectedComponent)
 
 HPP_PREDEF_CLASS (Constraint)
 
 HPP_PREDEF_CLASS (ConstraintSet)
 
 HPP_PREDEF_CLASS (DiffusingPlanner)
 
 HPP_PREDEF_CLASS (Distance)
 
 HPP_PREDEF_CLASS (DistanceBetweenObjects)
 
 HPP_PREDEF_CLASS (DiscretizedCollisionChecking)
 
 HPP_PREDEF_CLASS (NumericalConstraint)
 
 HPP_PREDEF_CLASS (LockedJoint)
 
 HPP_PREDEF_CLASS (ExtractedPath)
 
 HPP_PREDEF_CLASS (JointBoundValidation)
 
 HPP_PREDEF_CLASS (Path)
 
 HPP_PREDEF_CLASS (PathOptimizer)
 
 HPP_PREDEF_CLASS (PathPlanner)
 
 HPP_PREDEF_CLASS (PathVector)
 
 HPP_PREDEF_CLASS (PathValidation)
 
 HPP_PREDEF_CLASS (PlanAndOptimize)
 
 HPP_PREDEF_CLASS (Problem)
 
 HPP_PREDEF_CLASS (RandomShortcut)
 
 HPP_PREDEF_CLASS (Roadmap)
 
 HPP_PREDEF_CLASS (SteeringMethod)
 
 HPP_PREDEF_CLASS (SteeringMethodStraight)
 
 HPP_PREDEF_CLASS (StraightPath)
 
 HPP_PREDEF_CLASS (VisibilityPrmPlanner)
 
 HPP_PREDEF_CLASS (WeighedDistance)
 
 HPP_PREDEF_CLASS (PathProjector)
 
std::ostream & operator<< (std::ostream &os, const Node &n)
 
std::ostream & operator<< (std::ostream &os, const Path &path)
 
std::ostream & operator<< (std::ostream &os, const Roadmap &r)
 

Typedef Documentation

◆ BasicConfigurationShooterPtr_t

◆ Body

typedef hpp::model::Body hpp::core::Body

◆ BodyPtr_t

typedef hpp::model::BodyPtr_t hpp::core::BodyPtr_t

◆ CenterOfMassComputationMap_t

◆ CenterOfMassComputationPtr_t

typedef model::CenterOfMassComputationPtr_t hpp::core::CenterOfMassComputationPtr_t

◆ CollisionObjectPtr_t

typedef model::CollisionObjectPtr_t hpp::core::CollisionObjectPtr_t

◆ CollisionPair_t

◆ CollisionPairs_t

◆ CollisionValidationPtr_t

◆ ComparisonTypeMap_t

typedef std::map<std::string, ComparisonTypePtr_t> hpp::core::ComparisonTypeMap_t

◆ ComparisonTypePtr_t

typedef boost::shared_ptr<ComparisonType> hpp::core::ComparisonTypePtr_t

◆ ComparisonTypesPtr_t

◆ ConfigConstIterator_t

typedef Configurations_t::const_iterator hpp::core::ConfigConstIterator_t

◆ ConfigIterator_t

typedef Configurations_t::iterator hpp::core::ConfigIterator_t

◆ ConfigProjectorPtr_t

◆ Configuration_t

typedef model::Configuration_t hpp::core::Configuration_t

◆ ConfigurationIn_t

typedef model::ConfigurationIn_t hpp::core::ConfigurationIn_t

◆ ConfigurationOut_t

typedef model::ConfigurationOut_t hpp::core::ConfigurationOut_t

◆ ConfigurationPtr_t

typedef model::ConfigurationPtr_t hpp::core::ConfigurationPtr_t

◆ Configurations_t

◆ ConfigurationShooterPtr_t

◆ ConfigValidationPtr_t

◆ ConfigValidationsPtr_t

◆ ConnectedComponentPtr_t

◆ ConnectedComponents_t

◆ ConstraintPtr_t

typedef boost::shared_ptr<Constraint> hpp::core::ConstraintPtr_t

◆ ConstraintSetPtr_t

typedef boost::shared_ptr<ConstraintSet> hpp::core::ConstraintSetPtr_t

◆ Device_t

typedef model::Device hpp::core::Device_t

◆ DevicePtr_t

typedef model::DevicePtr_t hpp::core::DevicePtr_t

◆ Devices_t

typedef std::deque<DevicePtr_t> hpp::core::Devices_t

◆ DeviceWkPtr_t

typedef model::DeviceWkPtr_t hpp::core::DeviceWkPtr_t

◆ DifferentiableFunction

typedef constraints::DifferentiableFunction hpp::core::DifferentiableFunction

◆ DifferentiableFunctionMap_t

◆ DifferentiableFunctionPtr_t

typedef constraints::DifferentiableFunctionPtr_t hpp::core::DifferentiableFunctionPtr_t

◆ DiffusingPlannerPtr_t

◆ DiscretizedCollisionCheckingPtr_t

◆ DistanceBetweenObjectsPtr_t

◆ DistancePtr_t

typedef boost::shared_ptr<Distance> hpp::core::DistancePtr_t

◆ DistanceResult

typedef model::DistanceResult hpp::core::DistanceResult

◆ DistanceResults_t

typedef model::DistanceResults_t hpp::core::DistanceResults_t

◆ DoubleInequalityPtr_t

◆ EdgePtr_t

◆ Edges_t

typedef std::list<Edge*> hpp::core::Edges_t

◆ EqualityPtr_t

typedef boost::shared_ptr<Equality> hpp::core::EqualityPtr_t

◆ EqualToZeroPtr_t

typedef boost::shared_ptr<EqualToZero> hpp::core::EqualToZeroPtr_t

◆ ExtractedPathPtr_t

typedef boost::shared_ptr<ExtractedPath> hpp::core::ExtractedPathPtr_t

◆ HalfJointJacobian_t

typedef model::HalfJointJacobian_t hpp::core::HalfJointJacobian_t

◆ interval_t

◆ Joint

typedef model::Joint hpp::core::Joint

◆ JointBoundValidationPtr_t

◆ JointConstPtr_t

typedef model::JointConstPtr_t hpp::core::JointConstPtr_t

◆ JointJacobian_t

typedef model::JointJacobian_t hpp::core::JointJacobian_t

◆ JointPtr_t

typedef model::JointPtr_t hpp::core::JointPtr_t

◆ JointVector_t

typedef model::JointVector_t hpp::core::JointVector_t

◆ KDTreePtr_t

typedef KDTree* hpp::core::KDTreePtr_t

◆ LockedJointPtr_t

typedef boost::shared_ptr<LockedJoint> hpp::core::LockedJointPtr_t

◆ matrix_t

typedef model::matrix_t hpp::core::matrix_t

◆ matrixIn_t

typedef constraints::matrixIn_t hpp::core::matrixIn_t

◆ matrixOut_t

typedef constraints::matrixOut_t hpp::core::matrixOut_t

◆ NearestNeighborPtr_t

typedef NearestNeighbor* hpp::core::NearestNeighborPtr_t

◆ NodePtr_t

◆ Nodes_t

typedef std::list<Node*> hpp::core::Nodes_t

◆ NumericalConstraintPtr_t

◆ ObjectVector_t

typedef model::ObjectVector_t hpp::core::ObjectVector_t

◆ PathConstPtr_t

typedef boost::shared_ptr<const Path> hpp::core::PathConstPtr_t

◆ PathOptimizerPtr_t

typedef boost::shared_ptr<PathOptimizer> hpp::core::PathOptimizerPtr_t

◆ PathPlannerPtr_t

typedef boost::shared_ptr<PathPlanner> hpp::core::PathPlannerPtr_t

◆ PathProjectorPtr_t

typedef boost::shared_ptr<PathProjector> hpp::core::PathProjectorPtr_t

◆ PathPtr_t

typedef boost::shared_ptr<Path> hpp::core::PathPtr_t

◆ Paths_t

typedef std::vector<PathPtr_t> hpp::core::Paths_t

◆ PathValidationPtr_t

typedef boost::shared_ptr<PathValidation> hpp::core::PathValidationPtr_t

◆ PathVectorPtr_t

typedef boost::shared_ptr<PathVector> hpp::core::PathVectorPtr_t

◆ PathVectors_t

◆ PlanAndOptimizePtr_t

◆ ProblemPtr_t

◆ ProblemSolverPtr_t

◆ RandomShortcutPtr_t

typedef boost::shared_ptr<RandomShortcut> hpp::core::RandomShortcutPtr_t

◆ RoadmapPtr_t

typedef boost::shared_ptr<Roadmap> hpp::core::RoadmapPtr_t

◆ size_type

typedef model::size_type hpp::core::size_type

◆ SizeInterval_t

◆ SizeIntervals_t

◆ SizeIntervalsMap_t

typedef std::map<std::string, SizeIntervals_t> hpp::core::SizeIntervalsMap_t

◆ SteeringMethodPtr_t

typedef boost::shared_ptr<SteeringMethod> hpp::core::SteeringMethodPtr_t

◆ SteeringMethodStraightPtr_t

◆ StraightPathPtr_t

typedef boost::shared_ptr<StraightPath> hpp::core::StraightPathPtr_t

◆ value_type

typedef model::value_type hpp::core::value_type

◆ vector_t

typedef model::vector_t hpp::core::vector_t

◆ vectorIn_t

typedef model::vectorIn_t hpp::core::vectorIn_t

◆ vectorOut_t

typedef model::vectorOut_t hpp::core::vectorOut_t

◆ VisibilityPrmPlannerPtr_t

◆ WeighedDistancePtr_t

Function Documentation

◆ HPP_PREDEF_CLASS() [1/32]

hpp::core::HPP_PREDEF_CLASS ( BasicConfigurationShooter  )

◆ HPP_PREDEF_CLASS() [2/32]

hpp::core::HPP_PREDEF_CLASS ( CollisionValidation  )

◆ HPP_PREDEF_CLASS() [3/32]

hpp::core::HPP_PREDEF_CLASS ( ConfigurationShooter  )

◆ HPP_PREDEF_CLASS() [4/32]

hpp::core::HPP_PREDEF_CLASS ( ConfigProjector  )

◆ HPP_PREDEF_CLASS() [5/32]

hpp::core::HPP_PREDEF_CLASS ( ConfigValidation  )

◆ HPP_PREDEF_CLASS() [6/32]

hpp::core::HPP_PREDEF_CLASS ( ConfigValidations  )

◆ HPP_PREDEF_CLASS() [7/32]

hpp::core::HPP_PREDEF_CLASS ( ConnectedComponent  )

◆ HPP_PREDEF_CLASS() [8/32]

hpp::core::HPP_PREDEF_CLASS ( Constraint  )

◆ HPP_PREDEF_CLASS() [9/32]

hpp::core::HPP_PREDEF_CLASS ( ConstraintSet  )

◆ HPP_PREDEF_CLASS() [10/32]

hpp::core::HPP_PREDEF_CLASS ( DiffusingPlanner  )

◆ HPP_PREDEF_CLASS() [11/32]

hpp::core::HPP_PREDEF_CLASS ( Distance  )

◆ HPP_PREDEF_CLASS() [12/32]

hpp::core::HPP_PREDEF_CLASS ( DistanceBetweenObjects  )

◆ HPP_PREDEF_CLASS() [13/32]

hpp::core::HPP_PREDEF_CLASS ( DiscretizedCollisionChecking  )

◆ HPP_PREDEF_CLASS() [14/32]

hpp::core::HPP_PREDEF_CLASS ( NumericalConstraint  )

◆ HPP_PREDEF_CLASS() [15/32]

hpp::core::HPP_PREDEF_CLASS ( LockedJoint  )

◆ HPP_PREDEF_CLASS() [16/32]

hpp::core::HPP_PREDEF_CLASS ( ExtractedPath  )

◆ HPP_PREDEF_CLASS() [17/32]

hpp::core::HPP_PREDEF_CLASS ( JointBoundValidation  )

◆ HPP_PREDEF_CLASS() [18/32]

hpp::core::HPP_PREDEF_CLASS ( Path  )

◆ HPP_PREDEF_CLASS() [19/32]

hpp::core::HPP_PREDEF_CLASS ( PathOptimizer  )

◆ HPP_PREDEF_CLASS() [20/32]

hpp::core::HPP_PREDEF_CLASS ( PathPlanner  )

◆ HPP_PREDEF_CLASS() [21/32]

hpp::core::HPP_PREDEF_CLASS ( PathVector  )

◆ HPP_PREDEF_CLASS() [22/32]

hpp::core::HPP_PREDEF_CLASS ( PathValidation  )

◆ HPP_PREDEF_CLASS() [23/32]

hpp::core::HPP_PREDEF_CLASS ( PlanAndOptimize  )

◆ HPP_PREDEF_CLASS() [24/32]

hpp::core::HPP_PREDEF_CLASS ( Problem  )

◆ HPP_PREDEF_CLASS() [25/32]

hpp::core::HPP_PREDEF_CLASS ( RandomShortcut  )

◆ HPP_PREDEF_CLASS() [26/32]

hpp::core::HPP_PREDEF_CLASS ( Roadmap  )

◆ HPP_PREDEF_CLASS() [27/32]

hpp::core::HPP_PREDEF_CLASS ( SteeringMethod  )

◆ HPP_PREDEF_CLASS() [28/32]

hpp::core::HPP_PREDEF_CLASS ( SteeringMethodStraight  )

◆ HPP_PREDEF_CLASS() [29/32]

hpp::core::HPP_PREDEF_CLASS ( StraightPath  )

◆ HPP_PREDEF_CLASS() [30/32]

hpp::core::HPP_PREDEF_CLASS ( VisibilityPrmPlanner  )

◆ HPP_PREDEF_CLASS() [31/32]

hpp::core::HPP_PREDEF_CLASS ( WeighedDistance  )

◆ HPP_PREDEF_CLASS() [32/32]

hpp::core::HPP_PREDEF_CLASS ( PathProjector  )

◆ operator<<()

std::ostream& hpp::core::operator<< ( std::ostream &  os,
const Path path 
)
inline